#!/bin/sh
#
# @name VTOL Tiltrotor
#
# @type VTOL Tiltrotor
#

. ${R}etc/init.d/rc.vtol_defaults

param set-default MAV_TYPE 21

# param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 3

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05

param set-default CA_ROTOR0_TILT 1
param set-default CA_ROTOR1_TILT 2
param set-default CA_ROTOR2_TILT 3
param set-default CA_ROTOR3_TILT 4
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_TL0_CT 0
param set-default CA_SV_TL1_CT 0
param set-default CA_SV_TL2_CT 0
param set-default CA_SV_TL3_CT 0
param set-default CA_SV_TL_COUNT 4

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 204
param set-default PWM_MAIN_FUNC6 205
param set-default PWM_MAIN_FUNC7 206
param set-default PWM_MAIN_FUNC8 207
param set-default PWM_MAIN_FUNC9 201
param set-default PWM_MAIN_FUNC10 202
param set-default PWM_MAIN_FUNC11 203

param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.38
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2

param set-default MC_YAW_P 1.6

param set-default MIS_TAKEOFF_ALT 10

param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1

param set-default NAV_ACC_RAD 5

param set-default VT_B_TRANS_DUR 8
param set-default VT_FWD_THRUST_EN 4
param set-default VT_MOT_ID 1234
param set-default VT_TILT_TRANS 0.6
param set-default VT_TYPE 1

set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
set MIXER custom
